This chapter presents a brief review on numerous formation control strategies of multiple autonomous marine vehicle (AMV) such as autonomous underwater vehicle (AUV), unmanned surface vehicle (USV), surface vessels, etc. Classification of available formation control schemes for AMVs is presented that considers different structures, control strategies employed for formation, and coordination strategy. Advantages and disadvantages of the control strategies for multiple agents cooperative motion together with the network and communication issues in formation are also discussed.

Chapter Contents:

• Abstract
• 9.1 Introduction
• 9.2 Classification of formation control techniques
• 9.2.1 Selection of vehicles with targets
• 9.2.2 Control abstraction
• 9.2.2.1 Formation shape representation
• 9.2.2.2 Reference types
• 9.3 Coordination strategies of autonomous vehicles
• 9.3.1 Centralized approach
• 9.3.1.1 Advantages
• 9.3.1.2 Disadvantages
• 9.3.2 Decentralized approach
• 9.3.2.1 Advantages
• 9.3.2.2 Disadvantages
• 9.3.3 Distributed approach
• 9.3.3.1 Advantages
• 9.3.3.2 Disadvantages
• 9.4 Formation control strategies
• 9.4.1 Formation control using behavioral approach
• 9.4.1.1 Advantages
• 9.4.1.2 Disadvantages
• 9.4.2 Formation control using leader-follower approach
• 9.4.2.1 Distance-angle and distance-distance method
• 9.4.2.2 Distance and bearing angle method
• 9.4.2.3 Virtual leader method
• 9.4.2.4 Line of sight (LOS) and vision-based method
• 9.4.2.5 Consensus method
• 9.4.2.6 Other techniques of leader-follower control strategy
• 9.4.2.7 Advantages
• 9.4.2.8 Disadvantages
• 9.4.3 Formation control using virtual structure approach
• 9.4.3.1 Advantages
• 9.4.3.2 Disadvantages
• 9.4.4 Formation control using artificial potentials approach
• 9.4.5 Attractive potential functions
• 9.4.6 Repulsive potential functions
• 9.4.6.1 Advantages
• 9.4.6.2 Disadvantages
• 9.4.7 Formation control using graph-theory approach
• 9.4.7.1 Advantages
• 9.4.7.2 Disadvantages
• 9.4.8 Other control strategies
• 9.4.8.1 Geometrical formation control
• 9.4.8.2 Formation reference point (FRP) method
• 9.4.8.3 Consensus-based formation control method
• 9.4.8.4 Other methods
• 9.5 Communication issues in formation of multiple vehicles
• 9.6 Formation control sub-problems
• 9.6.1 Obstacle and collision avoidance
• 9.6.2 Formation shape generation
• 9.6.3 Switching between shapes according to situation
• 9.6.4 Formation repair
• 9.6.5 Movement of formation structure
• 9.7 Conclusions
• References

Inspec keywords: motion control; mobile robots; multi-robot systems; multi-agent systems; autonomous underwater vehicles

Other keywords: unmanned surface vehicle; multiple agents cooperative motion; USV; surface vessels; autonomous marine vehicles; AUV; formation control; AMV; autonomous underwater vehicle

Subjects: Mobile robots; Multivariable control systems; Marine system control; Spatial variables control; Telerobotics